Yes, but not (yet) for all applications, and for relatively recent versions. We have updated the Security Group function for most programs so that a 'Listing' button is available directly where you edit security groups. This report can print just the enabled menu items for the group, or all menu items and indicating which are enabled and which are not.
If you don't see the Listing button, then that program/version doesn't have the updated features.
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Regards,
Softrak Tech Support